ABSTRACT

In the industrial side applications BLDC motor has greater importance, because of its smaller volume, high force and simple system structure. From the control point of view DC motor exhibit excellent control characteristics because of decoupled nature of armature and field mmfs. Among many modern control methods (nonlinear control, variable structure control and adaptive control)PID control has greater flexibility due to its three term functionality covering treatment to both transient and steady state responses, and offers simplest and more efficient solution to many real world control problems. This thesis presents the optimal PID controller design for a BLDC motor by Particle Swarm Optimization. PSO is the one of the optimization techniques and a kind of evolutionary competition technique. This method has been found to be robust in solving problems featuring non linearity and non differentiability, multiple optima and high dimensionality through adoption, which is derived from the social psychological theory. This technique is derived from research on swarm such as fish schooling and bird flocking. In this thesis the speed of BLDC motor is controlled by means of threephase pulse width modulation inverter (PWM). This paper Presents Particle Swarm Optimization Method for determining the optimal proportional integral derivative (PID) controller parameters for speed control of a Brush less DC motor. The proposed approach has superior features, including easy implementation, stable convergence characteristic and good computational efficiency. This thesis also presents the comparison of this method with the previous relevant approach Genetic Algorithm(GA).This PSO method was more efficient in improving the step response characteristics such as, reducing the steady state error, rise time, settling time and maximum overshoot in speed control of a brushless DC motor. IN this thesis the Brushless DC Motor is modeled in SIMULINK and the PSO is implemented in MATLAB.

TABLE OF CONTENTS

Page No. Abstract List of Figures List of Tables Chapter 1 Introduction

1.1 Overview 1.2 Literature Review 1.3 Organization of the thesis

i v vii 1-4
1 2 4

Chapter 2 Brushless DC Motor Modeling

2.1 Introduction 2.2 Mathematical Modeling 2.3 Simulink design of BLDC Motor 2.4 Conclusions

5-14
5 6 10 14

Chapter 3 Particle Swarm Optimization

3.1 Introduction 3.2 Method 3.3 Series voltage injection 3.4 Conclusions

15-25
15 15 23 25

Chapter 4 PID Controller Tuning by PSO Technique

4.1 Introduction 4.2 Three phase Bridge Converter 4.3 Three phase Chopper circuit 4.4 Wound Rotor Induction Machine 4.4.1 Axes transformation 4.4.1.1 Three -Phase Stationary Reference Frame (as-bs-cs) Variables
s s

26-38
26 26 27 28 31 31

into Two-Phase Stationary Reference Frame (d - q )

4.4.1.2 Two-Phase Stationary Reference Frame Variables (ds- qs) 32

into Three -Phase Stationary Reference Frame (as-bs-cs)

4.4.1.3 Stator Equations 33

ii

4.4.1.4 Rotor Equations 4.4.2 Wound Rotor induction Machine with Three phase bridge converter 4.4.3 Wound Rotor induction Machine with Chopper circuit 4.4.4 Wound Rotor induction Machine with Single current source 4.5 Conclusions

34 36 36 37 38

Chapter 5 Results and Analysis

5.1 Fundamental component of Phase-a Load current 5.2 Injected currents according to QAM at 5.3 Injected currents flow in to the load
0 inj =30

39-50
43 44 46

Chapter 6 Conclusions Future scope References

51

52

53

iii

LIST OF FIGURES

Figure No.

Figure Name

Page No.

Figure 2.1 Figure 2.2

Constant power load series with an inductor V-I characteristics of typical voltage sources and constant power loads

5 6

Figure 2.3 Figure 2.4 Figure 2.5 Figure 2.6

Example active rectier system Example system in the arbitrary reference frame Active rectifier control Stability criteria, average-value simulation and Nyquist plots for CPL

7 8 8 14

Figure 3.1 Figure 3.2 Figure 3.3 Figure 3.4 Figure 3.5 Figure 3.6 Figure 3.7 Figure 4.1 Figure 4.2 Figure 4.3 Figure 4.4 Figure 4.5 Figure 4.6

Generalized CPL system with an ideal current injection System from the Figure 3.1 in the arbitrary reference frame Phase A line current and it frequency spectrum Current injection waveforms for Current injection waveforms for
0 inj=0 inj=45

17 17 19 20 22 23 24 26 27 29 30 31 33

and
0

s=3770rad/sec s=3770rad/sec

and

Generalized CPL system with an ideal current injection Source Load system Three phase bridge converter Three phase chopper circuit wound rotor induction machine Two phase machine with stator and rotor windings Stationary frame a-b-c to ds-qs axes transformation Stationary frame ds-qs to synchronously rotating frame axes de-qe transformation

Figure 4.7 Figure 4.8 Figure 4.9 Figure 5.1 Figure 5.2

WRIM with three phase bridge converter. WRIM with chopper circuit WRIM with single current source Simulink diagram for Constant Power load system Simulink diagram for WRIM with Three phase bridge converter

36 37 37 39 40

iv

Figure 5.3 Figure 5.4 Figure 5.5 Figure 5.6

Simulink diagram for WRIM with Low power chopper circuit. Simulink diagram for WRIM with Single current source Fundamental component of phase-a current in time domain Fundamental component of phase-a current at q-and d-phase in time domain

41 42 43 43

Figure 5.7 Figure 5.8 Figure 5.9

Fundamental component of phase-a current in frequency domain Injected currents in phase-a current in time domain Injected currents in phase-a current at q-and d-phase in time domain

44 44 45

Figure 5.10 Figure 5.11 Figure 5.12

Injected currents in phase-a current in frequency domain Injected currents flow in to the load p hase-a current in time domain Injected currents flow in to the load phase-a current at q-and dphase in time domain

45 46 46

Figure 5.13 Figure 5.14 Figure 5.15

Injected currents flow in to the load phase-a current in frequency domain WRIM Characteristics at injected current Impedance characteristics WRIM techniques in linear frequency form

47 48 49

Figure 5.16

Impedance characteristics WRIM techniques in logarithmic form

49

LIST OF TABLES

Table No. Table 2.1 Table 2.2

Table Name Example system parameters Controller gains

Page No. 7 9

vi